File mttroot/mtt/lib/control/PPP/ppp_cost.m artifact f7cb316246 part of check-in 543de8091c
function [J J_U] = ppp_cost (U,x,W,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww) ## usage: [J J_U] = ppp_cost (U,x,W,J_uu,J_ux,J_uw,J_xx,J_xw,J_ww) ## Computes the PPP cost function given U,x and W ## ## J_uu,J_ux,J_uw,J_xx,J_xw,J_ww cost derivatives from ppp_lin ## Copyright (C) 1999 by Peter J. Gawthrop ## $Id$ J = U'*J_uu*U/2 + U'*(J_ux*x - J_uw*W) - x'*J_xw*W + x'*J_xx*x/2 + W'*J_ww*W'/2; J_U = J_uu*U + (J_ux*x - J_uw*W) ; endfunction